JP5984745B2 - Vehicle remote control device - Google Patents

Description

  The present invention relates to a vehicle remote control device that remotely controls the movement of a vehicle using a portable device.

  A system for remotely operating a vehicle has been proposed as a parking assistance system that assists the operation of the driver when the vehicle is parked in a narrow space (see, for example, Patent Document 1). In the vehicle auxiliary device proposed in Patent Document 1, operations such as forward, backward, right turn, and left turn are assigned to push button switches of the remote controller. Then, for example, every time the push button switch for reversing the remote controller is pressed by the operator, the vehicle is moved backward by a predetermined distance and stopped. In such a configuration, since the positional relationship and direction between the vehicle and the operator change as the vehicle moves, learning is necessary to perform an appropriate operation.

  In order to alleviate the difficulty of such operation, a technique has been proposed in which an operator moves while holding the remote control so that the vehicle keeps the relative position with the remote control constant (for example, Patent Document 2). In the vehicle remote control device of Patent Document 2, the distance between the vehicle and the remote control is detected by a distance detection means (for example, a distance sensor) installed in the vehicle, and the relative position between the vehicle and the remote control is detected based on the detected distance. The relative position was maintained and the vehicle was moved following the movement of the remote control.

  On the other hand, as a comfortable equipment for vehicles, a smart keyless device that locks / unlocks a vehicle door when an operator with a portable device approaches the vehicle and presses a button installed on the door knob of the vehicle has been proposed and spread. Is progressing. In order to communicate with a portable device in a smart keyless device, for example, a device using a low frequency (hereinafter referred to as LF) charged wave having a frequency of about 120 kHz to 135 kHz disclosed in Patent Document 3 has been proposed.

JP 2002-120742 A JP 2004-362466 A JP 2003-221954 A

  Since the conventional vehicle remote control device is configured as described above, the vehicle operation by the remote control can be realized, but the complexity of the button operation (Patent Document 1) and the cost increase due to the installation of the distance sensor (above There was a problem of Patent Document 2).

  The present invention has been made to solve the above-described problems, and aims to perform remote control of a vehicle without using any additional hardware by using a popular smart keyless device. To do.

A vehicle remote control device according to the present invention remotely controls a vehicle including a smart keyless device that controls a vehicle door by performing wireless communication between a portable device and a plurality of antennas installed in the vehicle. The relative position detection unit that detects the relative position of the portable device with respect to the vehicle and the relative position detection unit based on the communication area of the antenna that received the response signal for the signal transmitted from the antenna to the portable device. While maintaining the relative positional relationship with the portable device, the vehicle travels along the movement route calculated by the movement route calculation unit and the movement route calculation unit that calculates a movement route that moves the vehicle following the movement of the portable device. And a vehicle drive control unit.

  According to the present invention, since the antenna of the smart keyless device that controls locking / unlocking of the vehicle door is shared to detect the relative position of the portable device with respect to the vehicle, no additional hardware is required. The vehicle can be operated remotely.

It is a block diagram which shows the structure of the vehicle remote control apparatus which concerns on Embodiment 1 of this invention. It is a block diagram which shows the structure of the portable machine which the vehicle remote control apparatus which concerns on Embodiment 1 uses. It is a top view which shows the example of installation to the vehicle of the vehicle remote control apparatus which concerns on Embodiment 1. FIG. 4 is a flowchart showing the operation of the portable device used by the vehicle remote control device according to the first embodiment. 4 is a flowchart showing the operation of the vehicle remote control device according to the first embodiment. It is a flowchart which shows the detailed operation | movement of the detection process about LE antenna. It is a figure explaining the detail of the detection process about LE antenna 107a. It is a figure explaining the detail of the detection process about LE antenna 107b. It is a figure explaining the detail of the detection process about LE antenna 107c. It is a figure explaining the relative position of a portable machine to vehicles. It is a figure explaining the method of calculating the movement path | route of a vehicle. It is a block diagram which shows the structure of the vehicle remote control apparatus which concerns on Embodiment 2 of this invention. 10 is a flowchart showing an operation by a user authentication unit of the vehicle remote control device according to the second embodiment. 6 is a flowchart showing the operation of the vehicle remote control device according to the second embodiment. It is a block diagram which shows the structure of the vehicle remote control apparatus which concerns on Embodiment 3 of this invention. 10 is a flowchart illustrating an operation by a gesture recognition unit of the vehicle remote control device according to the third embodiment. 10 is a flowchart showing the operation of the vehicle remote control device according to the third embodiment. It is a figure explaining the method of correct | amending the relative position of the portable apparatus with respect to a vehicle according to gesture operation | movement.

Embodiment 1 FIG.
A vehicle remote control system for remotely controlling a vehicle includes a vehicle remote control device 1 configured as shown in FIG. 1 and a portable device 2 configured as shown in FIG.
A vehicle remote control device 1 mounted on a vehicle includes a control unit 101, an RF (Radio Frequency) antenna 102, an RF reception unit 103, a vehicle drive unit 104, a vehicle information acquisition unit 105, and a plurality of LF (Low Frequency) transmission units 106a. To 106e, a plurality of LF antennas 107a to 107e, and a button (operation input unit) 108.
A portable device 2 possessed by an operator outside the vehicle includes an LF antenna 201, an LF reception unit 202, an RF antenna 203, an RF transmission unit 204, a control unit 205, and a button 206.

  In addition to the functions described below, the vehicle remote control system of the present invention also has a smart keyless function for locking / unlocking the door of the vehicle, and the RF antenna on the vehicle side for realizing the smart keyless function. 102 and the LF antennas 107a to 107e and the LF antenna 201 and the RF antenna 203 on the portable device 2 side can perform wireless communication. For example, the control unit 101 collates the identification code on the vehicle side with the identification code of the portable device 2 through the wireless communication, and locks / unlocks the door of the vehicle when the identification codes match. The details of the smart keyless function are described in Patent Document 3 and the like, and thus the description thereof is omitted.

  In the present invention, the RF remote control device 1 uses the RF antenna 102, the RF receiver 103, the LF transmitters 106a to 106e and the LF antennas 107a to 107e for the smart keyless function, and the portable device 2 for vehicle drive control. Thus, remote control of the vehicle position is realized without adding new hardware.

  In the vehicle remote control device 1, the control unit 101 is configured by, for example, an ECU (electronic control device), and includes a relative position detection unit 111, a movement route calculation unit 112, and a vehicle drive control unit 113. The relative position detection unit 111 receives the backward assistance mode signal transmitted from the portable device 2 via the RF reception unit 103, and controls the LF transmission units 106a to 106e based on this signal to send an activation signal (portable) to the portable device 2. A signal for starting up the machine 2). The relative position detection unit 111 receives a response signal transmitted from the portable device 2 (a signal indicating that the activation signal transmitted from the vehicle remote control device 1 has been received) via the RF reception unit 103, and based on this signal. Next, the position of the portable device 2 is detected. The movement route calculation unit 112 calculates the movement route of the vehicle based on the position of the portable device 2 detected by the relative position detection unit 111. The vehicle drive control unit 113 controls the vehicle drive unit 104 using the vehicle information acquired by the vehicle information acquisition unit 105 and moves the vehicle along the movement route calculated by the movement route calculation unit 112. When the button 108 is pressed, vehicle control by the vehicle drive control unit 113 is not performed.

  The RF receiving unit 103 converts a signal transmitted from the portable device 2 and received by the RF antenna 102 into a signal that can be processed by the control unit 101 (for example, demodulation processing) and outputs the signal to the control unit 101.

  The vehicle drive unit 104 controls the vehicle in response to a request from the vehicle drive control unit 113. The vehicle drive unit 104 controls, for example, the steering angle of the own vehicle or the braking force of the drive wheels.

  The vehicle information acquisition unit 105 acquires vehicle information indicating the state of the vehicle in response to a request from the vehicle drive control unit 113 and outputs the vehicle information to the vehicle drive control unit 113. The vehicle information is information such as the steering angle of the own vehicle and the traveling speed, for example.

  The LF transmitters 106a to 106e convert the activation signal output from the relative position detector 111 into a radio wave signal and output the radio signal to the LF antennas 107a to 107e.

  The button 108 is, for example, a push button type button installed in the passenger compartment. The button 108 detects that the driver presses or releases the button 108 and outputs it to the control unit 101. Note that the button 108 is not limited to a push button, and may be any configuration that can detect an operation performed by the driver. When the driver presses the button 108, the vehicle control by the remote operation of the portable device 2 is stopped.

  In the portable device 2, the LF reception unit 202 converts the signal transmitted from the vehicle remote control device 1 and received by the LF antenna 201 into a signal that can be processed by the control unit 205 (for example, demodulation processing). Output.

  The RF transmission unit 204 converts the response signal output from the control unit 205 and the backward assistance mode signal output from the control unit 205 when the button 206 is pressed into a radio signal and outputs the radio signal to the RF antenna 203.

  The control unit 205 is configured by, for example, a microcomputer, and controls the RF transmission unit 204 based on information of pressing the button 206 and information input from the LF reception unit 202, and moves backward to the vehicle remote control device 1. A support mode signal and a response signal are transmitted.

  The button 206 is, for example, a push button type button installed on the outer surface of the portable device 2. The button 206 detects that the operator holding the portable device 2 presses or releases the button 206, and controls the control unit 205. Output to. Note that the button 206 is not limited to a push button, and may be any configuration that can detect an operation performed by an operator who possesses the portable device 2. When the operator presses the button 206, vehicle control by remote operation of the portable device 2 is started.

  FIG. 3 is a plan view showing an example in which the vehicle remote control device 1 is installed in the vehicle 3. The vehicle remote control device 1 is mounted on a vehicle 3, and a receiving RF antenna 102 is installed inside the vehicle remote control device 1. Further, as transmitting antennas, the LF antennas 107 b and 107 d are installed on the left side of the vehicle 3, the LF antennas 107 c and 107 e are installed on the right side of the vehicle 3, and the LF antenna 107 a is installed on the rear part of the vehicle 3. For the communication from the LF antennas 107a to 107e to the portable device 2, LF charged waves of about 120 kHz to 135 kHz are used.

  Next, a method in which the vehicle remote operation device 1 controls the vehicle 3 according to the remote operation of the portable device 2 will be described. In this example, a reverse support mode for supporting the reverse of the vehicle 3 will be described.

FIG. 4 is a flowchart for explaining the operation of the control unit 205 of the portable device 2.
First, the control unit 205 checks whether or not the button 206 is pressed by the operator (step ST1). When the button 206 is pressed (step ST1 “YES”), the control unit 205 determines that the operator has pressed the button 206 in order to operate the reverse support mode, and provides the vehicle remote control device 1 with the reverse support. A signal for transmitting the mode signal is output to RF transmitting section 204 (step ST2). When the signal for transmitting the reverse support mode signal is input from the control unit 205, the RF transmission unit 204 transmits the reverse support mode signal from the RF antenna 203 to the vehicle remote control device 1.

  On the other hand, when the button 206 is not pressed (step ST1 “NO”), or when a signal for transmitting the reverse assist mode signal is output (step ST2), the control unit 205 transmits the vehicle remote operation device 1. It is confirmed whether or not an activation signal to be received has been received (step ST3). When an activation signal is received in step ST3 (step ST3 “YES”), a signal for transmitting a response signal is output from the control unit 205 to the RF transmission unit 204 (step ST4). When a signal for transmitting a response signal is input from the control unit 205, the RF transmission unit 204 transmits the response signal from the RF antenna 203 to the vehicle remote control device 1.

When the activation signal cannot be received within the predetermined time (step ST3 “NO”), the control unit 205 determines that the vehicle 3 does not exist in the vicinity and ends the process.
The portable device 2 repeats the above processing at a constant cycle.

FIG. 5 is a flowchart for explaining the operation of the control unit 101 of the vehicle remote control device 1.
First, the backward assistance mode signal transmitted from the portable device 2 in step ST2 of FIG. 4 is received by the RF antenna 102 and input to the control unit 101 via the RF receiving unit 103 (step ST11). When the reverse assist mode signal is received, the relative position detection unit 111 performs detection processing described later on the three LF antennas 107a to 107c disposed at the rear of the vehicle 3 (step ST12), and the LF antennas 107a to 107c. A detection result indicating whether or not the portable device 2 is detected in each communication area is stored (step ST13).

  Here, the details of the detection process (step ST12) by the relative position detection unit 111 will be described using the flowchart shown in FIG. In the following, the detection process performed for the communication area of the LF antenna 107a will be described, but the same detection process is repeated for the communication areas of the LF antennas 107b and 107c.

  First, the relative position detector 111 turns off a response signal reception flag indicating whether or not a response signal has been received (step ST12-1). Subsequently, the relative position detection unit 111 sets the LF transmission unit 106a so that the transmission output of the LF band is maximized in order to transmit the activation signal from the antenna 107a with the maximum output (step ST12-2). Then, a signal for transmitting the activation signal to the portable device 2 is output from the relative position detection unit 111 to the LF transmission unit 106a, and the activation signal is transmitted from the antenna 107a with the maximum transmission output (step ST12-3).

  Thereafter, the relative position detection unit 111 checks whether or not a response signal has been received from the portable device 2 (step ST12-4). When the response signal is received (step ST12-4 “NO”), the response signal is received. The flag is turned on (step ST12-7), and the LF transmitter 106a is set so as to reduce the transmission output of the LF band (step ST12-8). And it returns to step ST12-3 and transmits the starting signal which reduced the transmission output from LF antenna 107a.

  If the response signal cannot be received in step ST12-4 (step ST12-4 “YES”), the relative position detector 111 checks whether the response signal reception flag is ON or OFF (step ST12-5). When the response signal reception flag is OFF ("NO" in step ST12-5), the relative position detection unit 111 determines that there is no operator who has the portable device 2 in the communication area of the LF antenna 107a (step ST12- 9) The detection process related to the LF antenna 107a is terminated.

On the other hand, when the response signal reception flag is ON (step ST12-5 “YES”), since it is understood that communication with the portable device 2 held by the operator is performed within the communication area corresponding to the transmission output of the LF band, The position detection unit 111 determines that there is an operator in the communication area (step ST12-6), and ends the detection process related to the LF antenna 107a.
Similarly, after performing detection processing on the LF antennas 107b and 107c, the process returns to step ST13 in FIG.

  7 to 9 are diagrams illustrating details of the detection processing (step ST12) of the LF antennas 107a to 107c by the relative position detection unit 111. FIG. 7 shows communication areas 5a to 5c of the LF antenna 107a, FIG. 8 shows communication areas 6a to 6c of the LF antenna 107b, and FIG. 9 shows communication areas 7a to 7c of the LF antenna 107c.

The vehicle remote control device 1 first maximizes the transmission output and transmits an activation signal from the LF antenna 107a to the communication area 5a. Since the portable device 2 possessed by the operator 4 is in the communication area 5a, a response signal to the activation signal is transmitted from the portable device 2 to the vehicle remote control device 1.
When the vehicle remote control device 1 receives the response signal, the transmission output is lowered and an activation signal is transmitted from the LF antenna 107a to the communication area 5b. Since the portable device 2 is in the communication area 5b, a response signal to the activation signal is transmitted from the portable device 2 to the vehicle remote control device 1.
When the vehicle remote control device 1 receives the response signal, the transmission output is lowered and an activation signal is transmitted from the LF antenna 107a to the communication area 5c. Since the portable device 2 is outside the communication area 5c, no response signal is transmitted. Therefore, since the vehicle remote control device 1 cannot receive a response signal from the portable device 2, it is determined that there is an operator 4 who has the portable device 2 in the communication area 5b.
Therefore, in the case of FIG. 7, the relative position detection unit 111 stores the communication area 7b as a result of the detection process for the LF antenna 107a.

Since FIG. 8 and FIG. 9 are the same as those in FIG.
From the above detection processing, it can be seen that the operator 4 possessing the portable device 2 is in the communication area 5b, the communication area 6b, and the communication area 7b.

  In step ST14 of FIG. 5, the relative position detection unit 111 confirms whether or not the portable device 2 has been detected in all the communication areas of the LF antennas 107a to 107c based on the stored detection result. When the portable device 2 is detected in all the communication areas of the LF antennas 107a to 107c (step ST14 “YES”), the relative position detection unit 111 calculates the position of the portable device 2 from the point where the three communication areas intersect, and the vehicle 3 is calculated (the distance and direction of the portable device 2 with respect to the vehicle 3) (step ST15).

  On the other hand, in step ST14, when there is a communication area that does not detect the portable device 2 among the communication areas of the LF antennas 107a to 107c (step ST14 “NO”), the relative position detection unit 111 has the portable device 2. It is determined that the operating operator is at a position away from the rear of the vehicle 3 (that is, moved out of the effective range of the backward support mode), and the stored initial relative position information is cleared (step ST22).

  FIG. 10 is a diagram for explaining the relative position of the portable device 2 with respect to the vehicle 3. An intersection 8 where three communication areas 5b, 6b, 7b where the operator 4 carrying the portable device 2 is present is shown. The relative position detector 111 determines that there is an operator 4 who has the portable device 2 at the intersection 8 and calculates the relative position 9 of the portable device 2 with respect to the vehicle 3 based on the intersection 8.

  In step ST16 of FIG. 5, the relative position detector 111 checks whether or not the initial relative position information is already stored. If the initial relative position information is not stored (step ST16 “NO”), step ST15 is performed. Is stored as initial relative position information (step ST21). The vehicle 3 follows the movement of the operator 4 carrying the portable device 2 while keeping the initial relative position with the portable device 2 constant.

  On the other hand, when the initial relative position information is already stored (step ST16 “YES”), the movement route calculation unit 112 acquires the current vehicle 3 information (such as the steering angle) from the vehicle information acquisition unit 105, and A moving route candidate of the vehicle 3 is calculated from the vehicle information, the initial relative position information, and the current relative position calculated in step ST15 (step ST17). Then, the movement path calculation unit 112 calculates an error from the current relative position for each movement path candidate, and determines a movement path candidate that minimizes the error from the relative position as a movement path (step ST18).

  Thereafter, the vehicle drive control unit 113 confirms whether or not the button 108 is pressed by the driver of the vehicle 3 (step ST19). If the button 108 is pressed (“NO” in step ST19), it is determined that the driver wants to stop the control of the vehicle 3 by remote operation, the process is terminated, and the process returns to step ST11. On the other hand, when the button 108 is not pressed (step ST19 “YES”), the vehicle drive control unit 113 controls the vehicle drive unit 104 so that the vehicle 3 moves backward along the movement route determined in step ST18 (step ST19). ST20).

  FIG. 11 is a diagram for explaining an example of a method for calculating the movement route of the vehicle 3 by the movement route calculation unit 112. In FIG. 11A, when the operator 4 standing at the initial position 10a presses the button 206 of the portable device 2 to execute the backward assistance mode, the backward assistance mode signal is transmitted from the portable device 2 to the vehicle remote control device 1. Sent. When the relative position detection unit 111 of the vehicle remote control device 1 receives the backward assistance mode signal, it repeatedly transmits and receives the start signal and the response signal to and from the portable device 2 to detect the intersection 8a between the communication areas, and the vehicle 3 The initial relative position 9a of the portable device 2 is calculated. Thereafter, when the operator 4 moves from the initial position 10a to the current position 10b, the relative position detection unit 111 detects the current intersection point 8b, and the current relative position obtained by sliding the initial relative position 9a from the intersection point 8a to the intersection point 8b. 9b is calculated. As shown in FIG. 11B, the relative position 9b has the same length and direction as the initial relative position 9a, but is far from the vehicle 3 in accordance with the movement of the operator 4.

  In this state, the movement route calculation unit 112 calculates the movement route candidates 11a to 11c of the vehicle 3 based on three different steering angles as shown in FIG. For example, the movement path candidate 11a is calculated based on a predetermined steering angle set within a range of 0 degrees to the maximum angle, the movement path candidate 11c is calculated as a maximum steering angle, and the movement path candidate 11b is calculated as a range from 0 degrees to the maximum angle. . The movement route calculation unit 112 determines the movement route candidate 11b passing through the position closest to the point 12 that is separated from the current intersection 8b by the relative position 9b among the movement route candidates 11a to 11c as the movement route. Therefore, the vehicle 3 moves backward on the movement path candidate 11b so that the positional relationship between the vehicle 3 and the operator 4 is maintained.

  Note that the method for calculating the movement route of the vehicle 3 is not limited to the above-described method, and it is only necessary to be able to calculate a route for moving the vehicle 3 back in accordance with the movement of the operator 4 carrying the portable device 2.

  As described above, according to the first embodiment, the vehicle remote control device 1 controls the vehicle 3 by performing wireless communication with the portable device 2 via the plurality of LF antennas 107 a to 107 e installed in the vehicle 3. A relative position detector 111 that detects a relative position of the portable device 2 with respect to the vehicle 3 based on a result of wireless communication between the plurality of LF antennas 107a to 107c and the portable device 2, A movement route calculation unit 112 that calculates a movement route for moving the vehicle 3 following the movement of the portable device 2 while maintaining the relative positional relationship with the portable device 2 detected by the position detection unit 111, and a calculation by the movement route calculation unit 112. And a vehicle drive control unit 113 that drives the vehicle 3 along the travel path. Therefore, the position of the portable device 2 can be specified by using the LF antennas 107a to 107c used in the smart keyless device that locks / unlocks the vehicle door, and the vehicle 3 can be moved backward without adding hardware. The vehicle remote control device 1 to be supported can be realized.

  Further, according to the first embodiment, when an operation input unit (for example, the button 108) that is manually operated is installed in the passenger compartment of the vehicle 3 and the operation input unit is operated, the vehicle drive control unit 113 is 3 is not configured to perform the following movement. For this reason, when an operator other than the driver takes the portable device 2 out of the vehicle and remotely controls the vehicle 3 while the driver is in the vehicle 3, the vehicle 3 is controlled by the driver's intention. Can be canceled.

Embodiment 2. FIG.
FIG. 12 is a block diagram showing a configuration of the vehicle remote control device 1 according to the second embodiment. The vehicle remote control device 1 illustrated in FIG. 12 newly includes a user authentication unit 122 that acquires an image captured by the rear camera 121 mounted on the vehicle and authenticates an operator who owns the portable device 2. Since the other configuration is the same as or equivalent to that of the vehicle remote control device 1 of FIG. Moreover, since arrangement | positioning of LF antenna 107a-107e etc. and the structure of the portable device 2 are the same as that of FIG. 2 and FIG. 3, these figures are used.

  The rear camera 121 is a camera installed at the rear of the vehicle to confirm the rear of the vehicle. In the second embodiment, the rear camera 121 is used to capture an image of an operator who has the portable device 2 behind the vehicle. The rear camera 121 outputs the captured image to the user authentication unit 122.

  An image of the operator is registered in the user authentication unit 122 in advance. Based on the registered image, the user authentication unit 122 recognizes the operator from the captured image of the rear camera 121, gives authentication, and outputs the authentication result to the control unit 101a.

  Based on the authentication result of the user authentication unit 122, the control unit 101a performs only the remote operation of the registered operator. The operations of the relative position detection unit 111, the movement route calculation unit 112, and the vehicle drive control unit 113 are the same as those in the first embodiment.

  Next, a vehicle reverse assist mode by the vehicle remote control device 1 and the portable device 2 will be described.

FIG. 13 is a flowchart for explaining the operation of the user authentication unit 122 of the vehicle remote control device 1. In this example, authentication by face recognition is performed, and the face image of the operator is registered in the user authentication unit 122 in advance.
First, the user authentication unit 122 acquires a captured image from the rear camera 121 (step ST31). Subsequently, the user authentication unit 122 confirms whether there is a human face-like image from the captured image (step ST32). If it is determined that there is something that looks like a human face (“YES” in step ST32), it is compared with the face registered in the user authentication unit 122 (step ST33), and it is determined that it matches the registered face as a result of the comparison. In the case (step ST34 “YES”), the result of “authentication OK” is output to the control unit 101a (step ST35).

  On the other hand, when a human face-like object cannot be detected from the captured image (step ST32 “NO”), or when the detected face does not match the registered face (step ST34 “NO”), user authentication is performed. Unit 122 confirms whether or not there is a human face-like appearance in the entire area of the captured image (step ST36). When the entire area of the captured image has been searched (step ST36 “YES”), the result of “authentication NG” is output from the user authentication unit 122 to the control unit 101a (step ST37). When the area not searched for remains in the captured image (“NO” in step ST36), the process returns to step ST32 to continue the face recognition process.

FIG. 14 is a flowchart for explaining the operation of the control unit 101a of the vehicle remote control device 1.
First, the backward assistance mode signal transmitted from the portable device 2 in step ST2 of FIG. 4 is received by the RF antenna 102 and input to the control unit 101a via the RF receiving unit 103 (step ST11). When the backward support mode signal is received, the control unit 101a confirms whether there is an output of “authentication OK” from the user authentication unit 122 (step ST41).

  When the result of “authentication OK” is output from the user authentication unit 122 (step ST41 “YES”), the control unit 101a determines that the operator who owns the portable device 2 is a registered user. The remote operation by the portable device 2 is permitted, and the process proceeds to step ST12. Each process of steps ST12 to ST22 is the same as steps ST12 to ST22 of FIG. 5 described above.

  On the other hand, when the result of “authentication NG” is output from the user authentication unit 122 (“NO” in step ST41), the control unit 101a determines that the operator who owns the portable device 2 is not a registered user. It judges and does not permit remote operation by the portable device 2, and complete | finishes a process.

  As described above, according to the second embodiment, the user authentication unit 122 recognizes and authenticates the operator who owns the portable device 2 using the image captured by the rear camera 121 mounted on the vehicle, and drives the vehicle. When the user authentication unit 122 authenticates the operator, the control unit 113 is configured to follow the vehicle while maintaining the relative positional relationship with the portable device 2. For this reason, for example, when a non-registered child has the portable device 2, the control of the vehicle becomes invalid, so that unnecessary remote operation can be prevented.

Embodiment 3 FIG.
FIG. 15 is a block diagram illustrating a configuration of the vehicle remote control device 1 according to the third embodiment. The vehicle remote control device 1 illustrated in FIG. 15 newly includes a gesture recognition unit 132 that acquires an image captured by a rear camera 131 mounted on a vehicle and recognizes a gesture performed by an operator who holds the portable device 2. Yes. Since the other configuration is the same as or equivalent to that of the vehicle remote control device 1 of FIG. Moreover, since arrangement | positioning of LF antenna 107a-107e etc. and the structure of the portable device 2 are the same as that of FIG. 2 and FIG. 3, these figures are used.

  The rear camera 131 is a camera installed at the rear of the vehicle in order to confirm the rear of the vehicle. In the third embodiment, the rear camera 131 is used to capture an image of an operator who has the portable device 2 behind the vehicle. The rear camera 131 outputs the captured image to the gesture recognition unit 132.

  In the gesture recognition unit 132, information for pattern matching and a command corresponding to the recognized gesture operation are registered in advance in order to recognize the gesture operation performed by the operator. The gesture recognition unit 132 recognizes a gesture operation performed by the operator from the captured image of the rear camera 131, and outputs a command corresponding to the recognized gesture operation to the control unit 101b.

  The control unit 101b uses the command of the gesture recognition unit 132 for vehicle control. In the third embodiment, the relative position detection unit 111b corrects the positional relationship of the portable device 2 with respect to the vehicle based on the command of the gesture recognition unit 132, and the vehicle based on the positional relationship corrected by the movement route calculation unit 112. Is calculated. The operation of the vehicle drive control unit 113 is the same as that in the first embodiment.

  Next, a vehicle reverse assist mode by the vehicle remote control device 1 and the portable device 2 will be described.

  FIG. 16 is a flowchart for explaining the operation of the gesture recognition unit 132 of the vehicle remote control device 1. In this example, when the operator performs a gesture motion that swings the left hand to the left and right, the vehicle is offset to the right relative to the operator, and conversely, when the gesture motion that swings the right hand to the left and right is performed. The vehicle is offset to the left relative to the operator, and the gesture recognition unit 132 has information for pattern matching the shape of the human hand and a command for offsetting the vehicle to the right or left. Registered in advance.

  First, the gesture recognition unit 132 acquires a captured image from the rear camera 131 (step ST51). Subsequently, the gesture recognition unit 132 performs pattern matching to detect a human hand from the captured image (step ST52). When a human hand is detected by pattern matching (step ST53 “YES”), the gesture recognition unit 132 subsequently performs pattern matching for detecting the shape of the hand (step ST54).

  As a result of performing the pattern matching in step ST54, when it matches the shape of the hand registered in advance (“YES” in step ST55), the gesture recognition unit 132 detects the moving direction of the hand (step ST56). When the human hand is moving in the direction registered in advance (step ST57 “YES”), the gesture recognition unit 132 recognizes that the gesture operation is registered in advance, and corresponds to the gesture operation. The command is output to the control unit 101b (step ST58).

  On the other hand, when a human hand cannot be detected from the captured image (step ST53 “NO”), the detected hand does not match the registered hand shape (step ST55 “NO”), or the detected hand is detected. If the hand has not moved in the registered direction (step ST57 “NO”), the gesture recognition unit 132 determines that the operator is not performing the registered gesture operation, and continues to perform human operation over the entire area of the captured image. It is confirmed whether the hand has been searched (step ST59). If the entire area of the captured image has been searched (step ST59 “YES”), the result of “gesture authentication NG” indicating that there is no gesture operation registered in advance is output to the control unit 101b (step ST60). When the area not searched for remains in the captured image (step ST59 “NO”), the process returns to step ST52 to continue the gesture recognition process.

  FIG. 17 is a flowchart for explaining the operation of the control unit 101b of the vehicle remote control device 1. Steps ST11 to ST22 in FIG. 17 are the same as steps ST11 to ST22 in FIG. 5 described above, and steps ST61 to ST63 using the output of the gesture recognition unit 132 are added between steps ST16 and ST17. It has become.

  When the relative position detection unit 111b has already stored the initial relative position information (“YES” in step ST16), it is subsequently confirmed whether or not a command corresponding to the gesture operation is output from the gesture recognition unit 132 (step ST61).

  When there is a command output from the gesture recognition unit 132 (step ST61 “YES”), the relative position detection unit 111b corrects the stored initial relative position information according to the command (step ST62), and the corrected initial relative position information. Is stored (step ST63). In subsequent step ST17, the movement route calculation unit 112 calculates a vehicle movement route candidate from the corrected initial relative position information stored in the relative position detection unit 111b and the current relative position.

  On the other hand, when there is an output of “gesture recognition NG” as a result of the gesture recognition unit 132 (“NO” in step ST61), the movement path calculation unit 112 uses the initial relative position information stored in the relative position detection unit 111b. A vehicle moving route candidate is calculated from the current relative position (step ST17).

  FIG. 18 is a diagram for explaining an example of a method of correcting the relative position of the portable device 2 with respect to the vehicle 3 in accordance with a gesture operation command. In FIG. 18, when the operator 4 standing at the initial position 10 c presses the button 206 of the portable device 2 and executes the backward support mode, the relative position detection unit 111 b causes the initial relative position 9 c of the portable device 2 to the vehicle 3. Is calculated. In this state, when the operator 4 performs a gesture operation of shaking the left hand to the left and right, the gesture recognition unit 132 recognizes this gesture operation, and the vehicle 3 is offset to the right by a predetermined distance relative to the operator 4. Is output to the relative position detector 111b. In accordance with the command, the relative position detector 111b corrects the initial relative position 9c to the left so that the vehicle 3 is offset to the right relative to the operator 4, and uses the corrected relative position 9d as initial relative position information. Remember.

  In the above example, the initial relative position is corrected according to the gesture operation. However, the present invention is not limited to this, and the current relative position may be corrected, and the steering angle of the vehicle 3 and the driving wheel braking force may be corrected. Etc. may be corrected.

  As described above, according to the third embodiment, the gesture recognition unit 132 recognizes a gesture performed by the operator 4 holding the portable device 2 using the image captured by the rear camera 131 mounted on the vehicle 3, The relative position detection unit 111 is configured to correct the relative position of the portable device 2 with respect to the vehicle 3 in accordance with the gesture recognized by the gesture recognition unit 132. For this reason, the vehicle 3 can be moved to a position desired by the operator 4.

  In the first to third embodiments, the example of remote operation that supports the backward movement using the LF antennas 107a to 107c at the rear of the vehicle has been described. However, the present invention is not limited to this and is installed at the front of the vehicle. You may implement remote control etc. which support advance using an LF antenna.

  In the above description, the case where the second and third embodiments are respectively applied to the configuration shown in the first embodiment has been described. However, the present invention is not limited to this, and the first to third embodiments are not limited thereto. It may be a combination of the configurations up to form 3 as appropriate.

  In addition to the above, within the scope of the invention, the invention of the present application can be freely combined with each embodiment, modified any component of each embodiment, or omitted any component in each embodiment. Is possible.

  1 vehicle remote control device, 2 portable device, 3 vehicle, 4 operator, 5a-5c, 6a-6c, 7a-7c communication area, 8, 8a, 8b intersection, 9a, 9c initial relative position, 9b current relative position 9d Relative position after correction, 10a, 10c Initial position, 10b Current position, 11a-11c Travel path candidate, 101, 101a, 101b Control unit, 102 RF antenna, 103 RF reception unit, 104 Vehicle drive unit, 105 Vehicle information Acquisition unit, 106a to 106e LF transmission unit, 107a to 107e LF antenna, 108 button (operation input unit), 111, 111b relative position detection unit, 112 travel route calculation unit, 113 vehicle drive control unit, 121, 131 rear camera, 122 user authentication unit, 132 gesture recognition unit, 201 LF antenna, 202 LF reception Department, 203 RF antenna, 204 RF transmission unit, 205 control unit, 206 button.

Claims (5)

A vehicle remote control device for remotely operating a vehicle including a smart keyless device for controlling a vehicle door by performing wireless communication between a portable device and a plurality of antennas installed in the vehicle,
A relative position detector that detects a relative position of the portable device with respect to the vehicle based on a communication area of the antenna that has received a response signal to the signal transmitted from the antenna to the portable device ;
A movement path calculation unit that calculates a movement path for moving the vehicle following the movement of the portable device while maintaining a relative positional relationship with the portable device detected by the relative position detection unit;
A vehicle remote control device comprising: a vehicle drive control unit that drives the vehicle along the movement route calculated by the movement route calculation unit. Using an image captured by a camera mounted on the vehicle, and comprising an authentication unit for recognizing and authenticating an operator carrying the portable device,
2. The vehicle remote control according to claim 1, wherein, when the authentication unit authenticates the operator, the vehicle drive control unit causes the vehicle to follow and move while maintaining a relative positional relationship with the portable device. Operating device. A gesture recognition unit for recognizing a gesture performed by an operator carrying the portable device, using an image captured by a camera mounted on the vehicle;
The vehicle remote control device according to claim 1, wherein the relative position detection unit corrects a relative position of the portable device with respect to the vehicle according to a gesture recognized by the gesture recognition unit.   The relative position detection unit detects a communication area where the portable device exists for each antenna based on a result of wireless communication with the portable device while changing output strengths of the plurality of antennas. The vehicle remote control device according to any one of claims 1 to 3, wherein a position where the communication areas intersect is specified as a position of the portable device. An operation input unit that is installed in a vehicle interior of the vehicle and is manually operated;
5. The vehicle remote control device according to claim 1, wherein the vehicle drive control unit does not follow the vehicle when the operation input unit is operated. 6. .

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